ELO-X Short Course on Model Predictive Control Theory and Computation

James B. Rawlings and Moritz M. Diehl

University of California Santa Barbara and University of Freiburg

Tuesday, July 19, 2022, 9:00 - Wednesday, July 20, 2022, 18:00

Room 02-016/18, Georges-Koehler-Allee 101, Freiburg 79110, Germany


This two day course will be a live course for a limited number of PhD students - no recording, no streaming - in order to maximize interactivity between lecturers and participants. It covers stability theory for exact and real-time nonlinear model predictive control (MPC). It is intended for PhD students that are already familiar with the basic concepts of MPC, and partially builds on a textbook on MPC whose PDF is freely available:

Besides lectures and exercises, there will be ample opportunities for discussions between lecturers and participants during the coffee and lunch breaks breaks and during the workshop dinner on July 19, which will take place at St. Ottilien.

Course Registration: closed

Preliminary Schedule

  Tuesday   Wednesday
9:00 Lecture 1:
Tracking, Disturbances, and Zero Offset (James B. Rawlings)

Lecture 4:
Embedded Nonlinear MPC Software (Moritz Diehl)

Slides Part 1

CSTR acados exercise sheet

CSTR acados exercise solution

acados workshop presentation

10:30 Coffee Break 10:30 Coffee Break

Lecture 2:
Nonlinear Parametric Optimization (Moritz Diehl, Blackboard)

Slides Part 1

11:00 Lecture 5:
Nonlinear Moving Horizon State Estimation  (James B. Rawlings)
12:30 Lunch Break 12:30 Lunch Break
14:00 Lecture 3:
Nonlinear MPC - Regulation (James B. Rawlings)
14:00 Lecture 6:
Zero-Order and Adjoint-Based Optimization Algorithms (Moritz Diehl, Blackboard)
15:30 Break 15:30 Coffee Break
16:30 Hike to Waldrestaurant St. Ottilien (meeting point is Stadtgarten) 16:00 Lecture 7:
Economic MPC (James B. Rawlings)
18:30 Dinner at Waldrestaurant St. Ottilien 17:30 End















    This course has received funding from the European Union's Horizon 2020 research and innovation programme under the Marie Sklodowska-Curie grant agreement No. 953348.